#include "Matrix4.h"
#include "Vector3.h"
#include "Matrix3.h"

namespace framework
{
	namespace math
	{
		const Matrix4 Matrix4::ZERO(
			0, 0, 0, 0,
			0, 0, 0, 0,
			0, 0, 0, 0,
			0, 0, 0, 0 );

		const Matrix4 Matrix4::IDENTITY(
			1, 0, 0, 0,
			0, 1, 0, 0,
			0, 0, 1, 0,
			0, 0, 0, 1 );

		const Matrix4 Matrix4::CLIPSPACE2DTOIMAGESPACE(
			Real_Half,    0,  0, Real_Half, 
			  0, -Real_Half,  0, Real_Half, 
			  0,    0,  1,   0,
			  0,    0,  0,   1);

		//-----------------------------------------------------------------------
		inline static Real
			MINOR(const Matrix4& m, const size_t r0, const size_t r1, const size_t r2, 
									const size_t c0, const size_t c1, const size_t c2)
		{
			return m[r0][c0] * (m[r1][c1] * m[r2][c2] - m[r2][c1] * m[r1][c2]) -
				m[r0][c1] * (m[r1][c0] * m[r2][c2] - m[r2][c0] * m[r1][c2]) +
				m[r0][c2] * (m[r1][c0] * m[r2][c1] - m[r2][c0] * m[r1][c1]);
		}
		//-----------------------------------------------------------------------
		Matrix4 Matrix4::adjoint() const
		{
			return Matrix4( MINOR(*this, 1, 2, 3, 1, 2, 3),
				-MINOR(*this, 0, 2, 3, 1, 2, 3),
				MINOR(*this, 0, 1, 3, 1, 2, 3),
				-MINOR(*this, 0, 1, 2, 1, 2, 3),

				-MINOR(*this, 1, 2, 3, 0, 2, 3),
				MINOR(*this, 0, 2, 3, 0, 2, 3),
				-MINOR(*this, 0, 1, 3, 0, 2, 3),
				MINOR(*this, 0, 1, 2, 0, 2, 3),

				MINOR(*this, 1, 2, 3, 0, 1, 3),
				-MINOR(*this, 0, 2, 3, 0, 1, 3),
				MINOR(*this, 0, 1, 3, 0, 1, 3),
				-MINOR(*this, 0, 1, 2, 0, 1, 3),

				-MINOR(*this, 1, 2, 3, 0, 1, 2),
				MINOR(*this, 0, 2, 3, 0, 1, 2),
				-MINOR(*this, 0, 1, 3, 0, 1, 2),
				MINOR(*this, 0, 1, 2, 0, 1, 2));
		}
		//-----------------------------------------------------------------------
		Real Matrix4::determinant() const
		{
			return m[0][0] * MINOR(*this, 1, 2, 3, 1, 2, 3) -
				m[0][1] * MINOR(*this, 1, 2, 3, 0, 2, 3) +
				m[0][2] * MINOR(*this, 1, 2, 3, 0, 1, 3) -
				m[0][3] * MINOR(*this, 1, 2, 3, 0, 1, 2);
		}
		//-----------------------------------------------------------------------
		Matrix4 Matrix4::inverse() const
		{
			Real m00 = m[0][0], m01 = m[0][1], m02 = m[0][2], m03 = m[0][3];
			Real m10 = m[1][0], m11 = m[1][1], m12 = m[1][2], m13 = m[1][3];
			Real m20 = m[2][0], m21 = m[2][1], m22 = m[2][2], m23 = m[2][3];
			Real m30 = m[3][0], m31 = m[3][1], m32 = m[3][2], m33 = m[3][3];

			Real v0 = m20 * m31 - m21 * m30;
			Real v1 = m20 * m32 - m22 * m30;
			Real v2 = m20 * m33 - m23 * m30;
			Real v3 = m21 * m32 - m22 * m31;
			Real v4 = m21 * m33 - m23 * m31;
			Real v5 = m22 * m33 - m23 * m32;

			Real t00 = + (v5 * m11 - v4 * m12 + v3 * m13);
			Real t10 = - (v5 * m10 - v2 * m12 + v1 * m13);
			Real t20 = + (v4 * m10 - v2 * m11 + v0 * m13);
			Real t30 = - (v3 * m10 - v1 * m11 + v0 * m12);

			Real invDet = 1 / (t00 * m00 + t10 * m01 + t20 * m02 + t30 * m03);

			Real d00 = t00 * invDet;
			Real d10 = t10 * invDet;
			Real d20 = t20 * invDet;
			Real d30 = t30 * invDet;

			Real d01 = - (v5 * m01 - v4 * m02 + v3 * m03) * invDet;
			Real d11 = + (v5 * m00 - v2 * m02 + v1 * m03) * invDet;
			Real d21 = - (v4 * m00 - v2 * m01 + v0 * m03) * invDet;
			Real d31 = + (v3 * m00 - v1 * m01 + v0 * m02) * invDet;

			v0 = m10 * m31 - m11 * m30;
			v1 = m10 * m32 - m12 * m30;
			v2 = m10 * m33 - m13 * m30;
			v3 = m11 * m32 - m12 * m31;
			v4 = m11 * m33 - m13 * m31;
			v5 = m12 * m33 - m13 * m32;

			Real d02 = + (v5 * m01 - v4 * m02 + v3 * m03) * invDet;
			Real d12 = - (v5 * m00 - v2 * m02 + v1 * m03) * invDet;
			Real d22 = + (v4 * m00 - v2 * m01 + v0 * m03) * invDet;
			Real d32 = - (v3 * m00 - v1 * m01 + v0 * m02) * invDet;

			v0 = m21 * m10 - m20 * m11;
			v1 = m22 * m10 - m20 * m12;
			v2 = m23 * m10 - m20 * m13;
			v3 = m22 * m11 - m21 * m12;
			v4 = m23 * m11 - m21 * m13;
			v5 = m23 * m12 - m22 * m13;

			Real d03 = - (v5 * m01 - v4 * m02 + v3 * m03) * invDet;
			Real d13 = + (v5 * m00 - v2 * m02 + v1 * m03) * invDet;
			Real d23 = - (v4 * m00 - v2 * m01 + v0 * m03) * invDet;
			Real d33 = + (v3 * m00 - v1 * m01 + v0 * m02) * invDet;

			return Matrix4(
				d00, d01, d02, d03,
				d10, d11, d12, d13,
				d20, d21, d22, d23,
				d30, d31, d32, d33);
		}
		//-----------------------------------------------------------------------
		Matrix4 Matrix4::inverseAffine(void) const
		{
			CCASSERT(isAffine(), "error");

			Real m10 = m[1][0], m11 = m[1][1], m12 = m[1][2];
			Real m20 = m[2][0], m21 = m[2][1], m22 = m[2][2];

			Real t00 = m22 * m11 - m21 * m12;
			Real t10 = m20 * m12 - m22 * m10;
			Real t20 = m21 * m10 - m20 * m11;

			Real m00 = m[0][0], m01 = m[0][1], m02 = m[0][2];

			Real invDet = 1 / (m00 * t00 + m01 * t10 + m02 * t20);

			t00 *= invDet; t10 *= invDet; t20 *= invDet;

			m00 *= invDet; m01 *= invDet; m02 *= invDet;

			Real r00 = t00;
			Real r01 = m02 * m21 - m01 * m22;
			Real r02 = m01 * m12 - m02 * m11;

			Real r10 = t10;
			Real r11 = m00 * m22 - m02 * m20;
			Real r12 = m02 * m10 - m00 * m12;

			Real r20 = t20;
			Real r21 = m01 * m20 - m00 * m21;
			Real r22 = m00 * m11 - m01 * m10;

			Real m03 = m[0][3], m13 = m[1][3], m23 = m[2][3];

			Real r03 = - (r00 * m03 + r01 * m13 + r02 * m23);
			Real r13 = - (r10 * m03 + r11 * m13 + r12 * m23);
			Real r23 = - (r20 * m03 + r21 * m13 + r22 * m23);

			return Matrix4(
				r00, r01, r02, r03,
				r10, r11, r12, r13,
				r20, r21, r22, r23,
				  0,   0,   0,   1);
		}
		//-----------------------------------------------------------------------
		void Matrix4::makeTransform(const Vector3& position, const Vector3& scale, const Quaternion& orientation)
		{
			// Ordering:
			//    1. Scale
			//    2. Rotate
			//    3. Translate

			Matrix3 rot3x3, scale3x3;
			orientation.ToRotationMatrix(rot3x3);
			scale3x3 = Matrix3::ZERO;
			scale3x3[0][0] = scale.x;
			scale3x3[1][1] = scale.y;
			scale3x3[2][2] = scale.z;

			// Set up final matrix with scale, rotation and translation
			*this = rot3x3 * scale3x3;
			this->setTrans(position);

			// No projection term
			m[3][0] = 0; m[3][1] = 0; m[3][2] = 0; m[3][3] = 1;
		}
		//-----------------------------------------------------------------------
		void Matrix4::makeInverseTransform(const Vector3& position, const Vector3& scale, const Quaternion& orientation)
		{
			// Invert the parameters
			Vector3 invTranslate = -position;
			Vector3 invScale(1 / scale.x, 1 / scale.y, 1 / scale.z);
			Quaternion invRot = orientation.Inverse();

			// Because we're inverting, order is translation, rotation, scale
			// So make translation relative to scale & rotation
			invTranslate *= invScale; // scale
			invTranslate = invRot * invTranslate; // rotate

			// Next, make a 3x3 rotation matrix and apply inverse scale
			Matrix3 rot3x3, scale3x3;
			invRot.ToRotationMatrix(rot3x3);
			scale3x3 = Matrix3::ZERO;
			scale3x3[0][0] = invScale.x;
			scale3x3[1][1] = invScale.y;
			scale3x3[2][2] = invScale.z;

			// Set up final matrix with scale, rotation and translation
			*this = scale3x3 * rot3x3;
			this->setTrans(invTranslate);

			// No projection term
			m[3][0] = 0; m[3][1] = 0; m[3][2] = 0; m[3][3] = 1;
		}
	}	// namespace math
}	// namespace framework
